U.S. patent number 4,195,804 [Application Number 05/891,884] was granted by the patent office on 1980-04-01 for space platform docking device.
This patent grant is currently assigned to General Dynamics Corporation. Invention is credited to Edward J. Hujsak, LeRoy E. Siden.
United States Patent |
4,195,804 |
Hujsak , et al. |
April 1, 1980 |
Space platform docking device
Abstract
A device for docking or joining large structures or vehicles in
earth orbit under automatic and remote sensing and control. A thin
flexible boom extending from one vehicle contacts the inner surface
of a large open cone on the other as the two vehicles approach each
other. The conical surface guides the boom end towards the apex
where a reel for drawing in the boom engages the boom. As the boom
is drawn in, and the vehicles come into close proximity, a
mechanical latch is engaged for final rigidizing and securing.
Inventors: |
Hujsak; Edward J. (La Jolla,
CA), Siden; LeRoy E. (San Diego, CA) |
Assignee: |
General Dynamics Corporation
(San Diego, CA)
|
Family
ID: |
25398992 |
Appl.
No.: |
05/891,884 |
Filed: |
March 30, 1978 |
Current U.S.
Class: |
244/172.4 |
Current CPC
Class: |
B64G
1/646 (20130101) |
Current International
Class: |
B64G
1/64 (20060101); B64G 009/00 () |
Field of
Search: |
;244/161,158,159,135R,135A ;114/249,251,253,230 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Barefoot; Galen L.
Attorney, Agent or Firm: Duncan; John R.
Claims
We claim:
1. The space platform docking device which comprises:
a first structure and a second structure which are to be brought
into a rigidly docked relationship;
an extendable flexible boom adapted to be extended from said first
structure toward said second structure;
a hollow generally conical funnel means on said second structure
with the open larger end of said funnel means extending toward said
boom;
boom capture means located adjacent to the smaller internal end of
said funnel means;
said capture means comprising a closed ended tubular member adapted
to receive the end of said boom, a pressure actuated switch at the
inside of the closed end of said tubular member adapted to be
actuated by the end of said boom, a ring surrounding said tubular
member connected to a puller mechanism, said puller mechanism
electrically connected to said switch whereby switch actuation
causes said ring to be moved by said puller mechanism to crush said
tubular member and boom and mechanically lock them together;
and
means to retract said boom on one of said first and second
structures;
latch means on each of said first and second structures adapted to
move into latching engagement upon contact;
whereby as said structures move toward each other the end of said
boom moves across the inner surface of said funnel means to said
boom capture means, said boom is retracted and said latch means is
engaged.
2. The device according to claim 1 wherein said funnel means
comprises a rigid funnel surface having a larger flexible funnel
member in surface contact therewith and extending beyond the rigid
funnel surface.
3. The device according to claim 2 wherein said flexible funnel
member includes a tubular tailpiece connected to said funnel member
at the apex thereof, said tailpiece extending through an opening in
said rigid funnel surface, the opposite end of said tailpiece being
connected to a reel whereby rotation of said reel will cause said
flexible funnel member to be collapsed, drawn through said opening
and wrapped around said reel.
4. The method of space platform docking which comprises the steps
of:
providing an extendable flexible boom and a first portion of a
latching means on one structure;
providing a boom capture means, a generally conical funnel leading
to said boom capture means and the remaining second portion of said
latching means on a second structure;
moving said structures toward each other so that the end of said
boom contacts the inner surface of said funnel means;
continuing to move said structures toward each other so that said
boom end moves over said funnel surface until the end engages said
boom capture means;
securing said boom end to said boom capture means by moving said
boom end into operative engagement with a pressure actuated switch
at the end of a tubular member and crushing said tubular member and
boom in response to switch actuation to lock said tubular member to
said boom;
holding said boom end in said capture means for a period sufficient
to eliminate relative motion between said first and second
structures;
retracting said boom into one of said first and second structures
until said first and second portions of said latching means are
brought into contact; and
latching said two portions together to rigidly secure said first
and second structures together.
5. The method according to claim 4 wherein said tubular member is
mounted on a reel and said boom is retracted by rotating said reel
to reel up said boom.
6. The method according to claim 5 wherein a flexible funnel member
is located in contact with said conical funnel and has a tubular
tailpiece connected to said reel through which said boom end moves
toward said capture means, whereby said flexible funnel member is
collapsed and reeled up with said boom when said reel is
rotated.
7. The space platform docking device which comprises:
a first structure and a second structure which are to be brought
into a rigidly docked relationship;
an extendable flexible boom adapted to be extended from said first
structure toward said second structure;
a hollow generally conical rigid funnel means on said second
structure with the open larger end of said rigid funnel means
extending toward said boom;
a larger flexible funnel member in surface contact with the
interior of said rigid funnel and extending therebeyond, said
flexible funnel member including a tubular tailpiece connected to
said funnel member at the apex thereof, said tailpiece extending
through an opening in said rigid funnel surface, the opposite end
of said tailpiece being connected to a reel whereby rotation of
said reel will cause said flexible funnel member to be collapsed,
drawn through said opening and wrapped around said reel;
boom capture means located adjacent to the smaller internal end of
said funnel means;
means to retract said boom on one of said first and second
structures;
latch means on each of said first and second structures adapted to
move into latching engagement upon contact;
whereby as said structures move toward each other the end of said
boom moves across the inner surface of said funnel means to said
boom capture means, said boom is retracted and said latch means is
engaged.
Description
BACKGROUND OF THE INVENTION
This invention relates in general to space vehicle docking systems
and, more specifically, to systems for docking large structures in
earth orbit with remote sensing and control.
A variety of devices to accomplish docking or joining of space
vehicles have been designed and put into use. Typical docking
devices include those used in the Gemini, Apollo and Soyuz
programs. These devices have worked well for single vehicles under
manual control. However, in cases where large structures in orbit
are to be joined or docked, new problems must be overcome which
result from large sizes and mass, inherent structural flexibility,
slow response, and remote automatic control. For example, accepted
techniques of "driving" the two mating halves of a docking fixture
together are not feasible from the standpoint of control capability
needed and the impact loads and disturbances which occur.
One known orbital vehicle docking system, as described in U.S. Pat.
No. 3,201,065, uses a small rendezvous drone launched from one
vehicle at the end of a line. An operator in the vehicle controls
the drone to guide it to a docking fixture on the other vehicle.
With the aid of magnetic attraction, the drone is aligned with,
then connected to, the fixture. The cable may then be reeled in to
bring the vehicles together. While this system is capable of slowly
and smoothly bringing the vehicles together, it is not capable of
remote or automatic control. It is complex and cumbersome, and
capable of operation only so long as the drone gas propellant
supply lasts.
SUMMARY OF THE INVENTION
The above problems, and others, are overcome by the space platform
docking device and method of this invention which basically
comprises means extending a flexible boom from one structure, a
large open conical funnel on the other, means to guide the boom end
to the apex of the funnel, means to retract the boom into one
structure to bring the structures into contact, and means to
rigidly latch the two structures together, upon final closure of
the space between the structures.
BRIEF DESCRIPTION OF THE DRAWING
Details of the invention, and of a preferred embodiment thereof,
will be further understood upon reference to the drawing,
wherein:
FIG. 1 is a plan view of a large space structure using the docking
device of this invention;
FIG. 2 is a plan view, partially cut away, of the docking device
during the structure approach phase;
FIG. 3 is a plan view, partially cut away, of the docking device
illustrating boom capture;
FIG. 4 is a plan view, partially cut away, of the docking device
showing retraction of the guide cone;
FIG. 5 is a plan view, partially cut away, of the docking device
with the latching system actuated;
FIG. 6 is a partial sectional view of the docking device taken on
line 6--6 in FIG. 2;
FIG. 7 is a partial sectional view through the boom capture means,
taken on line 7--7 in FIG. 6;
FIG. 8 is a partial sectional view through the boom capture means,
taken on line 8--8 in FIG. 6; and
FIG. 9 is a detail view of the boom capture means of FIG. 6,
illustrating completion of capture.
DETAILED DESCRIPTION OF THE INVENTION
Referring now to FIG. 1, there is seen a typical space station 10
comprising three structures 12, 14 and 16 joined to central control
module 18. A fourth structure 20 is to be docked or joined to
control module 18. As structure 20 is moved toward station 20 as
indicated by arrow 22 by remote or automatic control, a boom 24 is
deployed for engagement in a securing assembly on cone 18.
The docking device is illustrated in the several positions
necessary for approach, connection, contact and latching in FIGS.
2-5.
FIG. 2 illustrates the docking device during early stages of the
approach of the two structures toward each other. The position of
the docking device on structure 20 includes a flattened boom 24
coiled on a reel 28 within a generally conical probe 30. Reel 28 is
adapted to be operated by remote or automatic (e.g. acutated by a
conventional sensor sensing the proximity of structure 18) control
(not shown) to extend boom 24.
Boom 24 may be formed from any material which can be reeled in a
flattened state, but upon release forms a substantially locally
rigid but overall flexible tubular boom. Typically a circular cross
section resilient wire mesh tube may be slit lengthwise and
flattened for reeling. When unreeled, the tube will regain its
tubular form. Similarly, a resilient metal or plastic tube having a
cross-section corresponding to the area of overlap of two circles
can be flattened for reeling and will regain the still but flexible
tube shape upon unreeling.
Structure 18, also as seen in FIG. 2, includes a receiving cone 32
corresponding in shape to probe 30. A series of latch members 34
are arranged around the edges of cone 32. A guide cone or funnel 36
is positioned on the inner surface of cone 32. Funnel 36 has a much
greater surface adapted to guide a member contacting the surface
toward the center of the funnel. Funnel 36 is constructed of a
flexible, collapsible material. Typically, funnel 36 may be made
from a shape-retaining plastic which can be collapsed, or may be an
inflatable structure, typically having a series of radial
inflatable tubes extending along the conical surface. When
inflated, a substantially rigid conical surface is provided, while
upon deflation the surface becomes soft and pliable. At the center
of funnel 36 there is provided a tailpiece 38 which attaches to
core 46 of reel 42 described in detail below.
As the two structures approach each other, reel 28 is operated to
deploy boom 24. The end of boom 24 initially contacts funnel 36
somewhere on its surface. Funnel 36 has a sufficiently rigid and
slippery surface, and boom 24 is sufficiently flexible, to permit
the end of boom 24 to slide across the funnel surface, enter
tailpiece 38 and finally engage boom capture means 40. The open end
of funnel 36 is sufficiently large to assure contact with the end
of boom 24 despite significant initial misalignment between
structures 18 and 20. Since boom 24 is relatively long, only slight
flexibility is required to permit sufficient deflection of the boom
to move along the surface of funnel 36.
Once the end of boom 24 is captured by capture means 40 (as
described in detail in conjunction with the description of FIGS.
6-9, below), funnel 36 is preferably retracted as illustrated in
FIG. 4.
Where funnel 36 is a thin stiff plastic with surfacing ribs as seen
in FIG. 4, it is merely mechanically deformed as it passes through
the tubular section of cone 32 and is wrapped around reel 42.
Funnel 36 may be of double wall inflated construction, or may have
inflated ribs, which would be deflated prior to retraction.
Once funnel 36 is retracted to reel 42, reel 42 and/or reel 28 may
be operated to retract boom 24 and bring probe 30 into contact with
cone 32. Once this is done, as shown in FIG. 5, latches 34 may be
actuated remotely or by any suitable sensor, to move from the
position shown in FIG. 4 to that shown in FIG. 5, where latches 34
engage flange 44 on probe 30 to securely and rigidly fasten
structures 18 and 20 together.
It is preferred to retract funnel 36 as indicated in FIG. 4, so
that good surface-to-surface contact between probe 30 and cone 32
can be attained as shown in FIG. 5. Alternatively, once the end of
boom 24 is captured by capture means 40 as indicated in FIG. 3,
reel 28 may be operated to retract boom 24. Structures 18 and 20
will then be brought together with funnel 36 sandwiched between
probe 30 and cone 32. Latches 34 may be actuated so as to penetrate
through or deform portions of funnel 36 as they move into
engagement with flange 44.
Details of the boom capture means 40 are provided in FIGS. 6-9.
FIG. 6 is a section view through reel 42 taken on line 6--6 in FIG.
3 with portions of the capture means 40 cut away. Capture means 40
is fastened to the core 46 of reel 42 for rotation therewith. The
conventional mounting and drive means for reel 42 are omitted for
clarity. Capture means 40 is shown in FIG. 6 an instant before
capture.
As structure 18 and 20 approach each other, the end of boom 24
moves across the surface of funnel 36, enters the tailpiece 38 of
funnel 36 into tube 48 and then moves into trigger housing 50. At
the end of trigger housing 50 is a trigger switch 52 with a
depressible switch plunger 54. When plunger 54 is pressed by the
end of boom 24, a conventional pyrotechnic puller device 56 is
actuated. A noose 58 (shown in plan view in FIG. 7) surrounding
trigger housing 54 is rapidly moved to the right as seen in FIG. 6
to deform trigger housing 54 and boom 24 as shown in FIG. 9, to
positively capture the boom.
Bracket 60 which supports puller 56 and trigger housing 50, also
supports a mounting flange 62 which holds the end of tube 48. Once
the end of boom 24 is positively captured as shown in FIG. 9, reel
42 is rotated to retract tube 48 and the balance of funnel 36 as
boom capture means 40 rotates with reel 42.
In the illustrated preferred embodiment, the end of boom 24 is
irreversibly captured. This is strongly preferred where a permanent
space structure is being assembled because of the very positive
capture provided. If undocking capability is desired, a
conventional quick-acting reversible motor could be substituted for
pyrotechnic puller 56 and trigger housing 50 and the portion of
boom 24 near the end could be formed from a resilient material
which would return to the original shapes upon release of puller
56. In this reversible case, either funnel 36 would be made from a
resilient or inflatable material which would resume the original
shape upon reverse operation of reel 42, or the funnel would not be
retracted and the latches 34 could operate through resilient funnel
areas, as described above.
Other variations, applications and ramifications of the invention
and preferred embodiment thereof described above will occur to
those skilled in the art upon reading the present disclosure. These
are intended to be included within the scope of this invention, as
defined in the appended claims.
* * * * *